光学定位脑外科机器人系统及其空间配准

Space registration and practice of a brain surgery robot based on optical localization

坐标标定与空间配准是图像导引的无框架脑外科立体定向机器人研究中的基本问题。为了实现简便、快捷的空间注册和标定,并提高机器人立体定位的精度,本文提出一种基于光学定位的脑外科机器人系统方案,并介绍了系统的构造、工作原理及流程,分析了基于光学定位手段建立从计算机图像空间到机器人现实操作空间的坐标映射的简捷、有效的方法。该系统基于标志点进行空间配准,采用光学跟踪定位手段,可以实时跟踪修正机器人的末端位姿,使系统在操作精度、操作便捷性和智能化方面有很大的改善。本研究提出的系统方法和坐标系映射转换关系,为实际应用提供了理论基础。

Space registration and coordinate calibration are basic issues in the research of image-guided frameless stereotactic brain surgery robotic system. A practical scheme of brain surgery robot based on optical localization is presented, which makes space registration and calibration more easily, promptly and accurately. The system architecture, operational principle and procedures are introduced. An effective shortcut method of constructing coordinate mapping from computer image model space to robot operating space is studied. The proposed scheme processes space registration based on markers, uses optical tracking technique to sense and correct robot pose, thus greatly improves the precision, facility and intelligence of the system. This study provides theoretical guidance for practical applications.